[jsk_data] add machine argument for record.launch

jsk_data/CMakeLists.txt

@@ -26,4 +26,12 @@ if (CATKIN_ENABLE_TESTING)
   roslint_add_test()
 
   catkin_add_nosetests(src/jsk_data/tests)
+
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(launch/baxter_play.launch)
+  roslaunch_add_file_check(launch/pr2_play.launch)
+  roslaunch_add_file_check(launch/baxter_record.launch)
+  roslaunch_add_file_check(launch/hrp2_record.launch)
+  roslaunch_add_file_check(launch/pr2_record.launch)
+  roslaunch_add_file_check(launch/urata_record.launch)
 endif()

jsk_data/launch/baxter_record.launch

@@ -11,6 +11,8 @@
   <arg name="save_hand_range" default="true" />
   <arg name="camera_namespace" default="openni"/>
   <arg name="save_dir" default="/tmp/bagfile/"/>
+  <arg name="bagfile_prefix" default="data" />
+  <arg name="machine" default="localhost" />
   <!--                          -->
   <!--       Conditions         -->
   <!--                          -->
@@ -40,10 +42,12 @@
     <arg name="save_all_image" value="$(arg save_all_image)" />
     <arg name="camera_namespace" value="$(arg camera_namespace)" />
     <arg name="save_dir" value="$(arg save_dir)" />
+    <arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
     <arg name="other_options" value="$(arg other_options)" />
     <arg name="other_topics" value="$(arg other_topics)
 				    $(arg robot_model_topics)
 				    $(arg hand_range_topics)" />
     <arg name="other_regex_topics" value="$(arg all_button_topics)"/>
+    <arg name="machine" value="$(arg machine)" />
   </include>
 </launch>

jsk_data/launch/common_record.launch

@@ -3,6 +3,8 @@
   <arg name="other_regex_topics" default=""/>
   <arg name="other_options" default=""/>
 
+  <arg name="machine" default="localhost" />
+  <machine name="localhost" address="localhost" />
 
   <arg name="save_openni" default="true" />
   <arg name="save_openni2" default="false" />
@@ -11,7 +13,8 @@
   <arg name="save_multisense" default="false" />
   <arg name="camera_namespace" default="openni"/>
 
-  <arg name="save_dir" default="$(env HOME)/.ros"/>
+  <arg name="save_dir"/> <!-- destination directory of bagfile -->
+  <arg name="bagfile_prefix"/> <!-- prefix of bagfile name (filename is prefix_date.bag) -->
   <param name="mk_save_dir" command="mkdir -p $(arg save_dir)" />
   <!--                          -->
   <!--       Conditions         -->
@@ -46,11 +49,12 @@
 
   <!-- execute -->
   <node name="default_rosbag_record" pkg="rosbag" type="record"
+        machine="$(arg machine)"
         args="$(arg openni_topics)
               $(arg openni2_topics) 
               $(arg robot_model_topics) 
               $(arg other_topics)
-              -o $(arg save_dir) 
+              -o $(arg save_dir)/$(arg bagfile_prefix)
               $(arg other_options)
 	      -e
               $(arg all_image_topics)

jsk_data/launch/hrp2_record.launch

@@ -1,12 +1,14 @@
 <launch>
   <!-- for HRP2 -->
   <arg name="save_dir" default="/tmp/hrp2_rosbag"/>
+  <arg name="bagfile_prefix" default="data" />
   <arg name="camera_namespace" default="camera" />
   <arg name="save_openni" default="true" />
   <arg name="save_robot_model" default="true" />
   <arg name="save_all_image" default="false" />
   <arg name="save_multisense" default="false" />
   <arg name="other_topics" default=""/>
+  <arg name="machine" default="localhost" />
 
   <include file="$(find jsk_data)/launch/common_record.launch">
     <arg name="camera_namespace" value="$(arg camera_namespace)" />
@@ -27,6 +29,8 @@
                                     /off_lhsensor
                                     /off_rhsensor
                                     /zmp" />
-    <arg name="save_dir" value="$(arg save_dir)" />    
+    <arg name="save_dir" value="$(arg save_dir)" />
+    <arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
+    <arg name="machine" value="$(arg machine)" />
   </include>
 </launch>

jsk_data/launch/pr2_record.launch

@@ -2,6 +2,9 @@
   <arg name="other_topics" default=""/>
   <arg name="other_options" default=""/>
 
+  <arg name="machine" default="c1" />
+  <include file="$(find pr2_machine)/pr2.machine" />
+
   <!-- for PR2 -->
   <arg name="save_openni" default="true" />
   <arg name="save_tilt_scan" default="true" />
@@ -13,6 +16,7 @@
   <arg name="save_prosilica" default="false" />
   <arg name="camera_namespace" default="openni"/>
   <arg name="save_dir" default="/removable/bagfile/"/>
+  <arg name="bagfile_prefix" default="data" />
   <arg name="remove_c2" default="true" />
   <!--                          -->
   <!--       Conditions         -->
@@ -63,6 +67,7 @@
     <arg name="save_all_image" value="$(arg save_all_image)" />
     <arg name="camera_namespace" value="$(arg camera_namespace)" />
     <arg name="save_dir" value="$(arg save_dir)" />
+    <arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
     <arg name="other_options" value="$(arg other_options)" />
     <arg name="other_topics" value="$(arg other_topics)
                                     $(arg base_scan_topics)
@@ -71,8 +76,10 @@
                                     $(arg pressure_topics) 
                                     $(arg gripper_command_topics) 
                                     $(arg prosilica_topics)" />
+    <arg name="machine" value="$(arg machine)" />
   </include>
   <node if  ="$(arg save_prosilica)" 
         name="set_prosilica_mode" pkg="dynamic_reconfigure" type="dynparam"
-        args="set /prosilica_driver trigger_mode 'streaming'" />
+        args="set /prosilica_driver trigger_mode 'streaming'"
+        machine="$(arg machine)"/>
 </launch>

jsk_data/launch/template_pr2_record.launch

@@ -5,6 +5,7 @@
     <arg name="other_options" value=""/>
 
     <!-- for PR2 -->
+    <arg name="machine" value="c1" />
     <arg name="save_openni" value="true" />
     <arg name="save_tilt_scan" value="true" />
     <arg name="save_base_scan" value="true" />
@@ -14,6 +15,7 @@
     <arg name="save_gripper_command" default="true" />
     <arg name="camera_namespace" value="openni"/>
     <arg name="save_dir" value="/removable/bagfile/"/>
+    <arg name="bagfile_prefix" value="data" />
   </include>
 
-</launch>
+</launch>

jsk_data/launch/urata_record.launch

@@ -4,6 +4,8 @@
   <arg name="other_topics" default=""/>
   <arg name="other_options" default="--split --duration 2m"/>
   <arg name="save_dir" default="$(env HOME)/.ros/urata_record"/>
+  <arg name="bagfile_prefix" default="data" />
+  <arg name="machine" default="localhost" />
   <!-- URATA robot default topics -->
   <arg name="urata_topics" default="/imu
                                     /act_contact_states /ref_contact_states
@@ -26,9 +28,11 @@
     <arg name="save_all_image" value="false" />
     <arg name="save_multisense" value="false" />
     <arg name="save_dir" value="$(arg save_dir)" />
+    <arg name="bagfile_prefix" value="$(arg bagfile_prefix)" />
     <arg name="other_options" value="$(arg other_options)" />
     <arg name="other_topics" value="$(arg other_topics)
                                     $(arg urata_topics)
                                     $(arg local_multisense_topics)" />
+    <arg name="machine" value="$(arg machine)" />
   </include>
 </launch>

jsk_data/package.xml

@@ -10,14 +10,22 @@
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>message_generation</build_depend>
   <run_depend>depth_image_proc</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>image_transport</run_depend>
   <run_depend>jsk_topic_tools</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>nodelet</run_depend>
+  <run_depend>openni_launch</run_depend>
   <run_depend>paramiko</run_depend>
+  <run_depend>pr2_machine</run_depend>
   <run_depend>python-click</run_depend>
   <run_depend>python-yaml</run_depend>  <!-- apt -->
+  <run_depend>rosbag</run_depend>
+  <run_depend>rqt_bag</run_depend>
+  <run_depend>rviz</run_depend>
   <test_depend>python-freezegun-pip</test_depend>
   <test_depend>python-nose</test_depend>
+  <test_depend>roslaunch</test_depend>
   <test_depend>roslint</test_depend>
   <export>
   </export>